Apparatus for endoscopic procedures

ABSTRACT

A surgical device includes a jaw assembly, an articulating assembly and a drive shaft. The jaw assembly includes first and second jaws. The articulating assembly is removably coupled to a proximal end of the jaw assembly and includes a distal joint member, a proximal joint member, and a pivot pin. The pivot pin is fixedly coupled to the distal joint member and is rotatably coupled to the proximal joint member. The jaw assembly and the distal joint member together define a first longitudinal axis. The proximal joint member defines a second longitudinal axis. The drive shaft includes a gear element that is meshingly engaged with a pivoting gear element that is fixedly coupled to the pivot pin. Longitudinal movement of the first drive shaft pivots the jaw assembly relative to the proximal joint member about a pivot axis defined by the pivot pin.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation-in-part application of U.S.patent application Ser. No. 13/859,066 filed on Apr. 9, 2013, the entiredisclosure of which is incorporated by reference herein.

BACKGROUND

1. Technical Field

The present disclosure relates to surgical apparatus, devices and/orsystems for performing endoscopic surgical procedures and methods of usethereof. More specifically, the present disclosure relates toelectromechanical, robotic and/or hand-held surgical apparatus, devicesand/or systems configured for use with removable disposable loadingunits and/or single use loading units for clamping, cutting and/orstapling tissue.

2. Background of Related Art

A number of surgical device manufacturers have developed product lineswith proprietary drive systems for operating and/or manipulatingelectromechanical surgical devices. In many instances theelectromechanical surgical devices include a handle assembly, which isreusable, and disposable loading units and/or single use loading unitsor the like that are selectively connected to the handle assembly priorto use and then disconnected from the handle assembly following use inorder to be disposed of or in some instances sterilized for re-use.

Various electromechanical linkages are utilized to transmit power fromthe reusable handle assemblies, which include one or more motors, to thedisposable loading unit to effect rotation, pivoting, clamping, fastenerejection, etc. Due to the complex structure and operation of the powertransmission mechanisms inadvertent actuation of these mechanisms mayresult in unintended operation of the disposable loading unit, which mayresult in damage to the surgical device and/or injury to the patient.Robotic systems for performing minimally invasive surgery are alsoknown. For example, International Application Publication WO 2000/051486discloses a system having remotely-controlled surgical instruments.

Many of these electromechanical surgical devices are relativelyexpensive to manufacture, purchase and/or operate. There is a constantdesire by manufacturers and end users to develop electromechanicalsurgical devices that are relatively inexpensive to manufacture,purchase and/or operate that still provide a large degree of operabilitywith prerequisite safety features. Accordingly, a need exists forelectromechanical surgical apparatus, devices and/or systems thatinclude effective electromechanical transmission system for actuatingthe disposable units as well as safety lockout assemblies.

SUMMARY

According to an aspect of the present disclosure, a surgical deviceincludes a jaw assembly, an articulating assembly and a drive shaft. Thejaw assembly includes a first jaw and a second jaw moveable relative tothe first jaw. The articulating assembly is removably coupled to aproximal end of the jaw assembly and includes a distal joint member, aproximal joint member, and a pivot pin. The pivot pin is fixedly coupledto the distal joint member and is rotatably coupled to the proximaljoint member. The jaw assembly and the distal joint member togetherdefine a first longitudinal axis extending between the proximal end ofthe jaw assembly and a distal end of the distal joint member. Theproximal joint member defines a second longitudinal axis. The driveshaft includes a gear element that is meshingly engaged with a pivotinggear element. The pivoting gear element is fixedly coupled to the pivotpin. Longitudinal movement of the first drive shaft pivots the jawassembly relative to the proximal joint member about a pivot axisdefined by the pivot pin. The pivot axis is perpendicular to the firstand second longitudinal axes.

In aspects, the gear element is a toothed rack and the pivoting gearelement is a pinion drive.

In some aspects, the surgical device includes an elongated member thatis coupled to the proximal joint member. The elongated member mayinclude a drive shaft. In certain aspects, the device includes a handleassembly that is removably coupled to a proximal end of the elongatedmember. The handle assembly may include a motor mechanically coupled tothe drive shaft. The motor may be configured to longitudinally move thedrive shaft. The drive shaft may be configured to apply a force thatback drives the motor in response to an external force applied to thearticulating assembly about the pivot axis.

In aspects, the drive shaft includes a proximal stop, a distal stop, anda thrust plate positioned between the proximal and distal stops. Theproximal stop may be positioned along the first drive shaft at a firstposition corresponding to a first pivoted position of the distal jointmember and the distal stop may be positioned along the first drive shaftat a second position corresponding to a second pivoted position of thedistal joint member. In the first pivoted position, the secondlongitudinal axis may define a first angle with the first longitudinalaxis in a first direction. In the second pivoted position, the secondlongitudinal axis may define a second angle with the first longitudinalaxis in a second direction. The second direction may be opposite thefirst direction. The first and second angles may be about 150°.Alternatively, the first and second angles may be about 90°.

In another aspect of the present disclosure, a surgical device includesa jaw assembly, an articulating neck assembly, a first drive shaft, asecond drive shaft, and a third drive shaft. The jaw assembly includes afirst jaw and a second jaw moveable relative to the first jaw. Thearticulating neck assembly is removably coupled to the proximal end ofthe jaw assembly and includes a distal joint member, a proximal jointmember, and a pivot pin. The pivot pin is fixedly coupled to the distaljoint member and is rotatably coupled to the proximal joint member. Thejaw assembly and the distal joint member define a first longitudinalaxis that extends between a proximal end of the jaw assembly and adistal end of the distal joint member. The proximal joint member definesa second longitudinal axis. The first drive shaft is coupled to thepivot pin. Longitudinal movement of the first drive shaft pivots the jawassembly relative to the proximal joint member about a pivot axisdefined by the pivot pin. The pivot axis is perpendicular to the firstand second longitudinal axes. The second drive shaft is coupled to thejaw assembly. Rotation of the second drive shaft moves the second jawrelative to the first jaw. The third drive shaft is coupled to the jawassembly. Rotation of the third drive shaft rotates the jaw assemblyabout the first longitudinal axis.

In aspects, the first drive shaft includes a first gear element that ismeshingly engaged with a pivoting gear element. The pivoting gearelement may be fixedly coupled to the pivot pin. The first gear elementmay be a toothed rack and the pivoting gear element may be a piniondrive.

In some aspects, the surgical device includes an elongated membercoupled to the proximal joint member. The proximal joint member mayinclude the first drive shaft. The surgical device may include a handleassembly that is removably coupled to a proximal end of the elongatedmember. The handle assembly may include a motor mechanically coupled tothe first drive shaft. The motor may be configured to longitudinallymove the first drive shaft. The first drive shaft may apply a force thatback drives the motor when an external force is applied to thearticulating assembly about the pivot axis. The first drive shaft mayinclude a proximal stop, a distal stop and a thrust plate positionedbetween the proximal and distal stops. The proximal stop may bepositioned along the first drive shaft at a first position correspondingto a first pivoted position of the distal joint member. The distal stopmay be positioned along the first drive shaft at a second positioncorresponding to a second pivoted position of the distal joint member.In the first pivoted position, the second longitudinal axis may define afirst angle with the first longitudinal axis in a first direction. Inthe second pivoted position, the second longitudinal axis may define asecond angle with the first longitudinal axis in a second direction. Thesecond direction may be opposite the first direction.

Further details and aspects of exemplary embodiments of the presentinvention are described in more detail below with reference to theappended figures.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present disclosure are described herein withreference to the accompanying drawings, wherein:

FIG. 1 is a perspective, disassembled view of an electromechanicalsurgical system including a surgical instrument, an adapter assembly,and an end effector, according to the present disclosure;

FIG. 2 is a perspective view of the surgical instrument of FIG. 1,according to the present disclosure;

FIG. 3 is perspective, disassembled view of the surgical instrument ofFIG. 1, according to the present disclosure;

FIG. 4 is a perspective view of a battery of the surgical instrument ofFIG. 1, according to the present disclosure;

FIG. 5 is a top, partially-disassembled view of the surgical instrumentof FIG. 1, according to the present disclosure;

FIG. 6 is a front, perspective view of the surgical instrument of FIG. 1with the elongated member separated therefrom, according to the presentdisclosure;

FIG. 7 is a cross-sectional side view of the surgical instrument of FIG.1, as taken through 7-7 of FIG. 1, according to the present disclosure;

FIG. 8 is a top, cross-sectional view of the surgical instrument of FIG.1, as taken through 8-8 of FIG. 1, according to the present disclosure;

FIG. 9 is a perspective, disassembled view of a control assembly of thesurgical instrument of FIG. 1, according to the present disclosure;

FIG. 10 is a perspective view of the adapter assembly of FIG. 1 havingan articulating neck assembly, according to the present disclosure;

FIG. 11 is a perspective, partial cross-sectional view of the adapterassembly of FIG. 1, according to the present disclosure;

FIG. 12 is a perspective view of an end effector connected to a distalend of the adapter assembly of FIG. 1, oriented in a linear,non-articulated orientation, according to the present disclosure;

FIG. 13 is a disassembled view of the end effector of FIG. 12, accordingto the present disclosure;

FIG. 14 is a perspective, cross-sectional view of the end effector ofFIG. 12, according to the present disclosure;

FIG. 15 is an enlarged, cross-sectional side view of the end effector ofFIG. 12, according to the present disclosure;

FIG. 16 is an enlarged, cross-sectional side view of the end effector ofFIG. 12 disconnected from the articulating neck assembly, according tothe present disclosure;

FIG. 17A is a disassembled view of the articulating neck assemblyaccording to the present disclosure;

FIG. 17B is a perspective view of part of the articulating neck assemblyaccording to the present disclosure;

FIG. 18 is a top perspective, partially-disassembled view of thearticulating neck assembly according to the present disclosure;

FIG. 19 is a bottom perspective, partially-disassembled view of thearticulating neck assembly according to the present disclosure;

FIG. 20 is a side perspective, partially-disassembled view of thearticulating neck assembly according to the present disclosure;

FIG. 21 is a top perspective, partially-disassembled view of thearticulating neck assembly according to the present disclosure;

FIG. 22 is a top perspective view of the articulating neck assemblyaccording to the present disclosure;

FIG. 23 is a side view of the articulating neck assembly in anarticulated orientation, according to the present disclosure;

FIG. 24 is an enlarged, cross-sectional side view of the end effector ofFIG. 12 connected to the articulating neck assembly, according to thepresent disclosure;

FIG. 25 is a cross-sectional side view of the end effector of FIG. 12connected to the articulating neck assembly oriented in a linear,non-articulated orientation, according to the present disclosure;

FIG. 26 is a cross-sectional side view of the end effector of FIG. 12connected to the articulating neck assembly oriented in a firstarticulated orientation, according to the present disclosure;

FIG. 27 is a cross-sectional side view of the end effector of FIG. 12connected to the articulating neck assembly oriented in a secondarticulated orientation, according to the present disclosure;

FIG. 28 is a perspective view of another embodiment of an articulatingneck assembly with an end effector connected to a distal end of theadapter assembly of FIG. 1, oriented in a linear, non-articulatedorientation, according to the present disclosure;

FIG. 29 is a perspective, disassembled view of the articulating neckassembly of FIG. 28 according to the present disclosure;

FIG. 30 is a top perspective, partially-disassembled view of thearticulating neck assembly of FIG. 28 according to the presentdisclosure;

FIG. 31 is a cross-sectional, side view of the end effector connected tothe articulating neck assembly of FIG. 28 oriented in a linear,non-articulated orientation, according to the present disclosure;

FIG. 32 is a cross-sectional, side view of the end effector connected tothe articulating neck assembly of FIG. 28 oriented in a firstarticulated orientation, according to the present disclosure; and

FIG. 33 is a cross-sectional, side view of the end effector connected tothe articulating neck assembly of FIG. 28 oriented in a secondarticulated orientation, according to the present disclosure.

DETAILED DESCRIPTION OF EMBODIMENTS

Embodiments of the presently disclosed electromechanical surgicalsystem, apparatus and/or device are described in detail with referenceto the drawings, in which like reference numerals designate identical orcorresponding elements in each of the several views. As used herein theterm “distal” refers to that portion of the electromechanical surgicalsystem, apparatus and/or device, or component thereof, that are fartherfrom the user, while the term “proximal” refers to that portion of theelectromechanical surgical system, apparatus and/or device, or componentthereof, that are closer to the user. The terms “left” and “right” referto that portion of the electromechanical surgical system, apparatusand/or device, or component thereof, that are on the left and rightsides, respectively, from the perspective of the user facing the distalend of the electromechanical surgical system, apparatus and/or devicefrom the proximal end while the surgical system, apparatus and/or deviceis oriented in non-rotational configuration.

Reference may be made to International Application Publication No. WO2009/039506 and U.S. Patent Application Publication US 2011/0121049, theentire contents of each of which are incorporated by reference herein,for a detailed description of the construction and operation ofexemplary electromechanical, hand-held, powered surgical instrument 100.

Referring initially to FIGS. 1-8, an electromechanical, hand-held,powered surgical system, in accordance with an embodiment of the presentdisclosure is shown and generally designated 10. Electromechanicalsurgical system 10 includes a surgical apparatus or device in the formof an electromechanical, hand-held, powered surgical instrument 100 thatis configured for selective attachment thereto of a plurality ofdifferent end effectors 300, via an adapter assembly (e.g., elongatedbody) 200. The end effector 300 and the adapter assembly 200 areconfigured for actuation and manipulation by the electromechanical,hand-held, powered surgical instrument 100. In particular, the surgicalinstrument 100, the adapter assembly 200, and the end effector 300 areseparable from each other such that the surgical instrument 100 isconfigured for selective connection with adapter assembly 200, and, inturn, adapter assembly 200 is configured for selective connection withany one of a plurality of different end effectors 300.

The end effector and/or adapter can be configured as an integral unit inany of the embodiments disclosed herein. The end effector and/or adaptercan be configured for use with a powered handle, console, and/orsurgical robot, in any of the embodiments disclosed herein.

As illustrated in FIGS. 1-3, the hand-held surgical instrument 100includes a handle housing 102 having a lower housing portion 104, anintermediate housing portion 106 extending from and/or supported onlower housing portion 104, and an upper housing portion 108 extendingfrom and/or supported on intermediate housing portion 106. Intermediatehousing portion 106 and upper housing portion 108 are separated into adistal half-section 110 a that is integrally formed with and extendingfrom the lower portion 104, and a proximal half-section 110 bconnectable to distal half-section 110 a by a plurality of fasteners.When joined, distal and proximal half-sections 110 a, 110 b define ahandle housing 102 having a cavity 102 a therein in which a circuitboard 150 and a drive mechanism 160 are situated.

With reference to FIGS. 2 and 3, distal and proximal half-sections 110a, 110 b are divided along a vertical plane that traverses alongitudinal axis “A-A” of upper housing portion 108 (FIG. 2). Handlehousing 102 includes a gasket 112 extending completely around a rim ofdistal half-section and/or proximal half-section 110 a, 110 b and beinginterposed between distal half-section 110 a and proximal half-section110 b. Gasket 112 seals the perimeter of distal half-section 110 a andproximal half-section 110 b. Gasket 112 functions to establish anair-tight seal between distal half-section 110 a and proximalhalf-section 110 b such that circuit board 150 and drive mechanism 160are protected from sterilization and/or cleaning procedures.

In this manner, the cavity 102 a of handle housing 102 is sealed alongthe perimeter of distal half-section 110 a and proximal half-section 110b yet is configured to enable easier, more efficient assembly of circuitboard 150 and a drive mechanism 160 in handle housing 102.

Intermediate housing portion 106 of handle housing 102 provides ahousing in which circuit board 150 is situated. Circuit board 150 isconfigured to control the various operations of surgical instrument 100,as will be set forth in additional detail below.

Lower housing portion 104 of surgical instrument 100 defines an aperture(not shown) formed in an upper surface thereof and which is locatedbeneath or within intermediate housing portion 106. As shown in FIGS. 3and 4, the aperture of lower housing portion 104 provides a passagethrough which wires 152 pass to electrically interconnect electricalcomponents situated in lower housing portion 104, e.g., a battery 156and a circuit board 154, with electrical components situated inintermediate housing portion 106 and/or upper housing portion 108, e.g.,circuit board 150, drive mechanism 160, etc.

Handle housing 102 includes a gasket 107 disposed within the aperture oflower housing portion 104 thereby plugging or sealing the aperture oflower housing portion 104 while allowing wires 152 to pass therethrough(see FIG. 3). Gasket 107 functions to establish an air-tight sealbetween lower housing portion 106 and intermediate housing portion 108such that circuit board 150 and drive mechanism 160 are protected fromsterilization and/or cleaning procedures.

With continued reference to FIGS. 3 and 4, lower housing portion 104 ofhandle housing 102 provides a housing in which the battery 156 isremovably disposed therein. The battery 156 may be a rechargeablebattery (e.g., lead-based, nickel-based, lithium-ion based, etc.). It isalso envisioned that the battery 156 may be a single-use,non-rechargeable battery. Battery 156 is configured to supply power toany of the electrical components of surgical instrument 100. Lowerhousing portion 104 defines a cavity (not shown) into which battery 156is inserted. Lower housing portion 104 includes a door 105 pivotallyconnected thereto for closing cavity of lower housing portion 104 andretaining battery 156 therein.

With continued reference to FIGS. 3 and 5, distal half-section 110 a ofupper housing portion 108 defines a nose or connecting portion 108 a. Anose cone 114 is supported on nose portion 108 a of upper housingportion 108. Nose cone 114 is fabricated from a transparent,light-transmissive material. An illumination member 116 is disposedwithin nose cone 114 such that illumination member 116 is visibletherethrough. The nose cone 114 may be tinted, such that theillumination member 116 is visible when it is activated.

With reference to FIG. 5, the illumination member 116 may include aplurality of any suitable light emitting devices, such as light emittingdiodes (LEDs), disposed on printed circuit board (LED PCB) 116 a whichis disposed in a vertical plane transverse to the longitudinal axis“A-A.” The illumination member 116 is configured to illuminate inmultiple colors with a specific color pattern being associated with aunique discrete event. In embodiments, the LEDs may be single-color ormulti-color LEDs.

Upper housing portion 108 of handle housing 102 provides a housing inwhich drive mechanism 160 is situated. As illustrated in FIG. 5, drivemechanism 160 is configured to drive shafts and/or gear components inorder to perform the various operations of surgical instrument 100. Inparticular, drive mechanism 160 is configured to drive shafts and/orgear components in order to selectively move tool assembly 304 of endeffector 300 relative to the adapter assembly, to rotate end effector300 about the longitudinal axis “A-A” (FIG. 2) relative to handlehousing 102, to move anvil assembly 306 relative to cartridge assembly308 of end effector 300, and/or to fire a stapling and cutting cartridgewithin cartridge assembly 308 of end effector 300.

The drive mechanism 160 includes a selector gearbox assembly 162 that islocated immediately proximal relative to adapter assembly 200. Proximalto the selector gearbox assembly 162 is a function selection module 163having a first (e.g., selector) motor 164 that functions to selectivelymove gear elements within the selector gearbox assembly 162 intoengagement with an input drive component 165 having a second (e.g.,drive) motor 166.

As illustrated in FIGS. 1-4, distal half-section 110 a of upper housingportion 108 defines a connecting portion 108 a configured to accept acorresponding shaft coupling assembly 214 of adapter assembly 200.

As illustrated in FIGS. 6-8, connecting portion 108 a of surgicalinstrument 100 has a cylindrical recess 108 b that receives the adapterassembly 200 when adapter assembly 200 is mated to surgical instrument100. Connecting portion 108 a houses three rotatable drive connectors118, 120, 122.

With reference to FIG. 6, when adapter assembly 200 is mated to surgicalinstrument 100, each of rotatable drive connectors 118, 120, 122 ofsurgical instrument 100 couples with a corresponding rotatable connectorsleeve 218, 220, 222 of adapter assembly 200. In this regard, theinterface between corresponding first drive connector 118 and firstconnector sleeve 218, the interface between corresponding second driveconnector 120 and second connector sleeve 220, and the interface betweencorresponding third drive connector 122 and third connector sleeve 222are keyed such that rotation of each of drive connectors 118, 120, 122of surgical instrument 100 causes a corresponding rotation of thecorresponding connector sleeve 218, 220, 222 of adapter assembly 200.

In the above-described embodiments, the hand-held surgical instrument100 may include a first (e.g., selector) motor 164 that functions toselectively move the selector gearbox assembly 162 gears into engagementwith an input drive component having a second (e.g., drive) motor. Inembodiments, other motor arrangements may be used, such as a differentmotor may be used for driving each of the connector sleeves. In furtherembodiments, other driving mechanisms for actuating the connectorsleeves may be used, including, but not limited to, pneumatic and/orhydraulic drivers, solenoids, biasing members, and combinations thereof.

The mating of drive connectors 118, 120, 122 of surgical instrument 100with connector sleeves 218, 220, 222 of adapter assembly 200 allowsrotational forces to be independently transmitted via each of the threerespective connector interfaces. The drive connectors 118, 120, 122 ofsurgical instrument 100 are configured to be independently rotated bydrive mechanism 160. In this regard, the function selection module 163of drive mechanism 160 selects which drive connector or connectors 118,120, 122 of surgical instrument 100 is to be driven by the input drivecomponent 165 of drive mechanism 160. The selector gearbox assembly 162and the function selection module 163 are disclosed in more detail in acommonly-owned U.S. patent application Ser. No. 13/280,898, the entirecontents of which is hereby incorporated by reference herein.

Since each of drive connectors 118, 120, 122 of surgical instrument 100has a keyed and/or substantially non-rotatable interface with respectiveconnector sleeves 218, 220, 222 of adapter assembly 200, when adapterassembly 200 is coupled to surgical instrument 100, rotational force(s)are selectively transferred from drive mechanism 160 of surgicalinstrument 100 to adapter assembly 200.

The selective rotation of drive connector(s) 118, 120 and/or 122 ofsurgical instrument 100 allows surgical instrument 100 to selectivelyactuate different functions of end effector 300. As discussed in greaterdetail below, selective and independent rotation of first driveconnector 118 of surgical instrument 100 corresponds to the selectiveand independent opening and closing of tool assembly 304 of end effector300, and driving of a stapling/cutting component of tool assembly 304 ofend effector 300. Also, the selective and independent rotation of seconddrive connector 120 of surgical instrument 100 corresponds to theselective and independent articulation of tool assembly 304 of endeffector 300 about an articulation axis “B-B” defined by a pin 505 (FIG.12) that is transverse to longitudinal axis “A-A” (FIG. 2). Inparticular, the end effector 300 defines a second longitudinal axis“C-C” and is movable from a first position in which the secondlongitudinal axis “C-C” (FIG. 12) is substantially aligned with thefirst longitudinal axis “A-A” to at least a second position in which thesecond longitudinal axis “C-C” is disposed at a non-zero angle withrespect to the first longitudinal axis “A-A.” Additionally, theselective and independent rotation of third drive connector 122 ofsurgical instrument 100 corresponds to the selective and independentrotation of end effector 300 about longitudinal axis “A-A” relative tohandle housing 102 of surgical instrument 100.

As illustrated in FIGS. 5 and 8, drive mechanism 160 includes a selectorgearbox assembly 162; a function selection module 163, located proximalto the selector gearbox assembly 162, that functions to selectively movegear elements within the selector gearbox assembly 162 into engagementwith second motor 166. Thus, drive mechanism 160 selectively drives oneof drive connectors 118, 120, 122 of surgical instrument 100 at a giventime.

As illustrated in FIGS. 1-3 and FIG. 9, handle housing 102 supports acontrol assembly 103 on a distal surface or side of intermediate housingportion 108. Control assembly 103, in cooperation with intermediatehousing portion 108, supports a pair of finger-actuated control buttons124, 126 and rocker devices 128, 130. In particular, control assembly103 defines an upper aperture 124 a for slidably receiving a firstcontrol button 124, and a lower aperture 126 b for slidably receiving asecond control button 126.

Each one of the control buttons 124, 126 and rocker devices 128, 130includes a respective magnet (not shown) that is moved by the actuationof an operator. In addition, circuit board 150 includes, for each one ofthe control buttons 124, 126 and rocker devices 128, 130, respectiveHall-effect switches 150 a-150 d that are actuated by the movement ofthe magnets in the control buttons 124, 126 and rocker devices 128, 130.In particular, located immediately proximal to the control button 124 isa first Hall-effect switch 150 a (FIGS. 3 and 7) that is actuated uponthe movement of a magnet within the control button 124 upon the operatoractuating control button 124. The actuation of first Hall-effect switch150 a, corresponding to control button 124, causes circuit board 150 toprovide appropriate signals to function selection module 163 and inputdrive component 165 of the drive mechanism 160 to close a tool assembly304 of end effector 300 and/or to fire a stapling/cutting cartridgewithin tool assembly 304 of end effector 300.

Also, located immediately proximal to rocker device 128 is a secondHall-effect switch 150 b (FIGS. 3 and 7) that is actuated upon themovement of a magnet (not shown) within rocker device 128 upon theoperator actuating rocker device 128. The actuation of secondHall-effect switch 150 b, corresponding to rocker device 128, causescircuit board 150 to provide appropriate signals to function selectionmodule 163 and input drive component 165 of drive mechanism 160 toarticulate tool assembly 304 relative to the adapter assembly 200.Advantageously, movement of rocker device 128 in a first directioncauses tool assembly 304 to articulate relative to the adapter assembly200 in a first direction, while movement of rocker device 128 in anopposite, e.g., second, direction causes tool assembly 304 to articulaterelative to the adapter assembly 200 in an opposite, e.g., second,direction.

Furthermore, located immediately proximal to control button 126 is athird Hall-effect switch 150 c (FIGS. 3 and 7) that is actuated upon themovement of a magnet (not shown) within control button 126 upon theoperator actuating control button 126. The actuation of thirdHall-effect switch 150 c, corresponding to control button 126, causescircuit board 150 to provide appropriate signals to function selectionmodule 163 and input drive component 165 of drive mechanism 160 to opentool assembly 304 of end effector 300.

In addition, located immediately proximal to rocker device 130 is afourth Hall-effect switch 150 d (FIGS. 3 and 7) that is actuated uponthe movement of a magnet (not shown) within rocker device 130 upon theoperator actuating rocker device 130. The actuation of fourthHall-effect switch 150 d, corresponding to rocker device 130, causescircuit board 150 to provide appropriate signals to function selectionmodule 163 and input drive component 165 of drive mechanism 160 torotate end effector 300 relative to handle housing 102 surgicalinstrument 100. Specifically, movement of rocker device 130 in a firstdirection causes end effector 300 to rotate relative to handle housing102 in a first direction, while movement of rocker device 130 in anopposite, e.g., second, direction causes end effector 300 to rotaterelative to handle housing 102 in an opposite, e.g., second, direction.

Turning now to FIGS. 1 and 10, adapter assembly 200 will be shown indetail and described. Adapter assembly 200 is configured to communicatethe rotational forces of first, second and third rotatable driveconnectors 118, 120, and 122 of surgical instrument 100 to end effector300. As mentioned above, adapter assembly 200 is configured forselective connection to surgical instrument 100.

As seen in FIGS. 1, 6, 10, and 11 adapter assembly 200 includes anelongate, substantially rigid, elongate body portion 210 having aproximal end 210 a and a distal end 210 b; a transmission housing 212connected to proximal end 210 a of elongate body portion 210 and beingconfigured for selective connection to surgical instrument 100. Theadapter assembly 200 also includes an articulating assembly 230 disposedat the distal end 210 b for coupling to the end effector 300.

In embodiments, the transmission housing 212 may include one or moregear train systems therein for varying a speed/force of rotation (e.g.,increase or decrease) of first, second and/or third rotatable driveconnectors 118, 120, and/or 122 of surgical instrument 100 beforetransmission of such rotational speed/force to end effector 300.

Transmission housing 212 of adapter assembly 200 is configured andadapted to connect to connecting portion 108 a of upper housing portion108 of surgical instrument 100. As seen in FIGS. 1 and 6, transmissionhousing 212 of adapter assembly 200 includes a shaft coupling assembly214 supported at the proximal end 210 a

Adapter assembly 200 may include a first gear train system and a secondgear train system, each disposed within transmission housing 212 andelongate body portion 210. Each gear train system is configured andadapted to vary a speed/force of rotation (e.g., increase or decrease)of first and second rotatable drive connectors 118 and 120 of surgicalinstrument 100 before transmission of such rotational speed/force to endeffector 300. An adapter assembly having multiple gear trains isdisclosed in more detail in a commonly-owned U.S. patent applicationSer. No. 13/280,898, the entire contents of which is hereby incorporatedby reference herein.

As seen in FIG. 11, adapter assembly 200 may rotatably support first,second, and third drive shafts 218 a, 220 a, 222 a, which include aproximal end connected to transmission housing 212, namely,corresponding rotatable connector sleeve 218, 220, 222. Each of thedrive shafts 218 a, 220 a, 222 a also include a distal end extending toand operatively connected to the articulating assembly 230, as will bediscussed in greater detail below. The elongate body portion 210 ofadapter assembly 200 includes at least three longitudinally extendingchannels through body portion 210. The channels are configured anddimensioned to rotatably receive and support the drive shafts 218 a, 220a, 222 a, which may be connected to respective gear systems (not shown).Each of the drive shafts 218 a, 220 a, 222 a are elongate andsufficiently rigid to transmit rotational forces from transmissionhousing 212 to articulating assembly 230, which are used to drive theend effector 300 as described in further detail below.

FIGS. 12-16 illustrate components and operation of the end effector 300.End effector 300 includes a pair of jaw members, which include acartridge assembly 308 and an anvil 306. Cartridge assembly 308 housesone or more fasteners 433 (FIG. 13) that are disposed therewithin and isconfigured to deploy the fasteners 433 upon firing of instrument 100.The anvil 306 is movably (e.g., pivotally) mounted to the end effector300 and is movable between an open position, spaced apart from cartridgeassembly 308, and a closed position wherein anvil 306 is in closecooperative alignment with cartridge assembly 308, to thereby clamptissue.

Referring to FIG. 13, a disassembled view of the end effector 300 isshown. The end effector 300 also includes a carrier 431 having anelongate channel 411, a base 412 and two parallel upstanding walls 414and 416 which include several mounting structures, such as notches 439,for supporting the cartridge assembly 308 and the anvil 306. Alongitudinal slot 413 extends through the elongate channel 411.

The carrier 431 also includes a plate cover 415 disposed on a bottomsurface thereof. The plate cover 415 is configured to frictionallyengage with channel 411 of the carrier 431 and functions to protecttissue from moving parts along the exterior of carrier 431. The carrier431 also includes a pair of tabs 407 and 409 disposed at a proximal endof respective walls 414, 416, and being configured for coupling to ahousing portion 410 of end effector 300.

The carrier 431 also includes a holder plate 402 disposed on a topsurface thereof. The holder plate 402 is configured to frictionallyengage the carrier 431 and the cartridge assembly 308 to secure thefasteners 433 and pushers 437 therein. The holder plate 402 includes apair of distal wings 402 a and a pair of proximal wings 402 b configuredto engage distal tabs 436 a and proximal tabs 436 b of the cartridgeassembly 308, respectively. The distal wings 402 a of the holder plate402 are also configured and dimensioned to engage slots 439 a disposedat a distal end of the carrier 431 thereby securing the cartridgeassembly 308 to the carrier 431.

With continuing reference to FIG. 13, the distal portion of channel 411supports the cartridge assembly 308 which contains the plurality ofsurgical fasteners 433 and a plurality of corresponding ejectors orpushers 437. End effector 300 includes an actuation sled 440 havingupstanding cam wedges 444 configured to exert a fastener driving forceon the pushers 437, which drive the fasteners 433 from cartridgeassembly 308, as described in more detail below. Cartridge assembly 308is maintained within channel 411 by lateral struts 436 whichfrictionally engage corresponding notches 439 formed in the uppersurfaces of channel walls 414 and 416. These structures serve torestrict lateral, longitudinal, and elevational movement of thecartridge assembly 308 within channel 411. In any of the embodimentsdisclosed herein, the cartridge assembly 308 can be removable andreplaceable so that the end effector 300 can be reused within aparticular surgery allowing for multiple firings of a single endeffector 300.

A plurality of spaced apart longitudinal slots (not shown) extendthrough cartridge assembly 308 and accommodate the upstanding cam wedges444 of actuation sled 440. The slots communicate with a plurality ofpockets 442 within which the plurality of fasteners 433 and pushers 437are respectively supported. The pushers 437 are secured by a pusherretainer (not shown) disposed below the cartridge assembly 308, whichsupports and aligns the pushers 437 prior to engagement thereof by theactuation sled 440. During operation, as actuation sled 440 translatesthrough cartridge assembly 308, the angled leading edges of cam wedges444 sequentially contact pushers 437 causing the pushers to translatevertically within slots 446, urging the fasteners 306 therefrom. Thecartridge assembly 308 also includes a longitudinal slot 485 to allowfor a knife blade 474 to travel therethrough, as described in moredetail below.

With continuing reference to FIGS. 13 and 14, the end effector 300includes an anvil cover 435 disposed over the anvil 306. The anvil cover435 protects tissue from moving parts along the exterior of anvil 306.The anvil cover 435 includes opposed mounting wings 450 and 452 whichare dimensioned and configured to engage detents 454 and 456 of theanvil 306, respectively. The mounting wings 450 and 452 function toalign the anvil 306 with the cartridge assembly 308 during closure. Theanvil 306 and the cover 435 are configured to remain in an openconfiguration until closed, as described in more detail below.

The anvil 306 is pivotally coupled to the carrier 431. The carrier 431includes a pair of openings 421 and 422 formed in respective tabs 407,409. The anvil cover 435 also includes a pair of opposed openings 457and 459 found therein. A pivot pin 417, or a pair of pins, passesthrough the openings 421, 422, 457, and 459 allowing for pivotalcoupling of the anvil 306 to the carrier 431 and the cartridge assembly308.

As seen in FIGS. 13 and 14, end effector 300 further includes an axialdrive screw 460 for transmitting the rotational drive forces exerted bythe second drive shaft 220 a, as described in further detail below, toactuation sled 440 during a stapling procedure. Drive screw 460 isrotatably supported in carrier 431 and includes a threaded portion 460 aand a proximal engagement portion 460 b. The drive screw 460 isrotatably secured by a thrust plate 410 b within the distal housingmember 410 such that the drive screw 460 may be rotated relative to thecarrier 431. Distal housing member 410 of the end effector 300 iscoupled to the proximal end of the carrier 431 via pivot pin 417. Thehousing member 410 includes a bore 414 (FIG. 14) defined therethroughthat houses the engagement portion 460 b therein. The distal tip of thedrive screw 460 rests in a recess defined in the channel 411 of thecarrier 431.

As shown in FIGS. 13-15, the drive screw 460 is coupled to a drivelinkage 600, which mechanically engages the second drive shaft 220 a, asdescribed in further detail below, and the drive screw 460 of endeffector 300. The drive linkage 600, disposed within the housing portion410, is off-axis with respect to the drive screw 460. In particular, thelongitudinal axis defined by the drive linkage 600 is at a non-parallel(e.g., non-zero angle) angle with respect to a longitudinal axis definedby the drive screw 460. In embodiments, the drive linkage 600 may bedisposed along the same longitudinal axis as the drive screw 460.

With reference to FIG. 15, the drive linkage 600 includes a proximalengagement portion 601 and a distal engagement portion 603. The proximalengagement portion 601 is configured to be engaged by a coupling member515, and the distal engagement portion 603 is dimensioned and configuredto engage the proximal engagement portion 460 b of drive screw 460. Inparticular, the engagement portion 601 includes a faceted surface, whichis configured and dimensioned to interface with a socket 516 of thecoupling member 515, which has a corresponding faceted surface. Theengagement portion 603 also includes a faceted surface, which isconfigured and dimensioned to interface with a socket 460 c of theengagement portion 460 b, which has a corresponding faceted surface. Themechanical coupling of the engagement portions 601 and 603 with thesockets 516 and 460 c, respectively, occurs via abutment of the malefaceted surfaces of the engagement portions 601 and 603 withcorresponding female faceted socket 516 and 460 c, which allows fortransfer of rotational motion of the coupling member 515 to the drivelinkage 600 and, in turn, to the drive screw 460. In embodiments, thedrive linkage 600 may mechanically interface with the drive screw 460and the coupling member 515 using any other suitable mechanicalcoupling, e.g., pinned.

With reference to FIGS. 13 and 14, end effector 300 further includes adrive beam 462 disposed within carrier 431. The drive beam 462 includesa vertical support strut 472 and an abutment surface 476, which engagesthe knife blade 474, which in turn, engages the actuation sled 440. Thedrive beam 462 also includes a cam member 480 disposed on top of thevertical support strut 472. Cam member 480 is dimensioned and configuredto engage and translate with respect to an exterior camming surface 482of anvil 306 to progressively clamp the anvil 306 against body tissueduring firing.

A longitudinal slot 484 extends through the anvil 306 to accommodate thetranslation of the vertical strut 472. This allows the cam member 480 totravel in between the cover 435 and anvil 306 during firing. Inembodiments, the anvil cover 435 may also include a correspondinglongitudinal slot (not shown) formed on an underside thereof and issecured to an upper surface of anvil 306 to form a channel therebetween.

The drive beam 462 includes a retention portion 488 having a threadedbore 489 defined therethrough. The drive screw 460 is threadably coupledto the retention portion 480 through the bore 489, such that as thedrive screw 460 is rotated, the drive beam 462 travels in a longitudinaldirection along the longitudinal axis defined by the drive screw 460.

In use, as the drive screw 460 is rotated in a clock-wise direction, thedrive beam 462 travels in a distal direction closing the anvil 306 asthe cam member 480 pushes down on the camming surface 482 thereof. Thedrive beam 462 also pushes the sled 440 in the distal direction, whichthen engages the pushers 437 via the cam wedges 444 to eject thefasteners 433. The drive beam 462 may be made of any suitable firstmaterial including, but not limited to, plastics, metals, andcombinations thereof. The first and second materials may be either sameor different.

The knife blade 474 travels slightly behind actuation sled 440 during astapling procedure to form an incision between the rows of fastener bodytissue. As the drive beam 462 is driven in the distal direction, theabutment surface 476 of the vertical strut 472 pushes the knife blade474, which then pushes sled 440 in the distal direction to eject thefasteners 433 and simultaneously dissect tissue with the knife blade474. The knife blade 474 and the drive beam 462 travel through thelongitudinal slots 484 and 485. The drive beam 462 closes the anvil asit is driven in the distal direction and also pushes the sled 440,which, in turn, ejects the fasteners 433 ahead of the knife blade 474.As the fasteners 433 are ejected they are deformed again thetissue-contacting (e.g., underside) surface of the anvil 306 having aplurality of anvil pockets (not shown).

With reference to FIGS. 11, 12, and 14-17A, the articulating assembly230 is shown. The assembly 230 includes a distal joint member 232 forcoupling to a proximal end of the end effector 300 and a proximal jointmember 234 coupled to the distal end 210 b of the body portion 210.

With reference to FIGS. 13 and 16-21 the housing portion 410 of the endeffector 300 includes one or more posts 410 a for insertion into one ormore corresponding bores 580 a within a socket 580. The socket 580 isrotationally disposed within the joint member 232. In particular, thesocket 580 is disposed within a spacer 232 a and includes a texturedring 232 b disposed on an outer surface thereof. This allows the socket580 to be rotated about the longitudinal axis “C-C” (FIG. 12) by a shaft513 that is longitudinally arranged within the joint member 232, asdescribed in further detail below.

The shaft 513 includes one or more facets 513 a such that the shaft 513is keyed to a central bore 580 b of the socket 580. This allows forrotation of the socket 580 along with the shaft 513. As shown in FIG.16, during insertion the proximal engagement portion 601 of the drivelinkage 600 also engages the socket 516 of the coupling member 515,which actuates the drive screw 460 as described in further detail below.

With reference to FIGS. 17A-19, the proximal joint member 234 and thedistal joint member 232 are configured and dimensioned as a clevis tointerface with a pin 505. The pin 505 includes one or more longitudinalfacets 505 a along at least a portion of the pin 505. The proximal jointmember 234 of the neck assembly 230 includes a pair of opposing arms235, 237 including a pair of opposing circular bores 235 a, 237 a,respectively, allowing the pin 505 to be rotationally coupled within thebores 235 a, 237 a of opposing arms 235, 237. With reference to FIGS.17A-B, the joint member 232 of the assembly 230 also includes a pair ofopposing arms 239, 241 including a pair of opposing bores 239 a, 241 a.With reference to FIG. 17B, each of the bores 239 a, 241 a includes afacet 239 b, 241 b, such that when the pin 505 is inserted into thebores 235 a, 237 a, 239 b, 241 b, the pin 505 can rotate freely withinthe bores 235 a, 237 a. This secures the joint member 232 to the pin 505about the bores 239 a, 241 a via mating of the facet 505 a of the pin505 with the facets 239 b, and 24 lb. Since the pin 505 is keyed to thebores 239 a, 241 a of the joint member 232 and is free-floating withinthe bores 235 a, 237 a of the proximal joint member 234, the jointmember 232 along with the end effector 300 may be freely rotated withrespect to the proximal joint member 234 about a articulation axis “B-B”(FIG. 12) defined by the pin 505 as shown in FIG. 22 and described infurther detail below.

With reference to FIGS. 17A and 18, the assembly 230 also includes thesecond (e.g., actuating/firing) drive shaft 220 a, which may be axiallyrotatable within the body portion 210. The drive shaft 220 a includes asecond gear element 502 coupled thereto and configured to rotatetherewith about a longitudinal axis defined by the drive shaft 220 a.The gear element 502 is meshingly engaged with a first transfer gearelement 504. The gear element 504 is held in position by the pin 505 andis configured to rotate about the pin 505.

The gear element 504 is also meshingly engaged with a gear element 506within the joint member 232. The gear elements 502, 504, 506 are bevelgears allowing for meshing engagement thereof even as the joint member232 and the end effector 300 are pivoted with respect to the bodyportion 210. The gear element 502 rotates about a longitudinal axisparallel with the axis “A-A.” The gear element 504 rotates about theaxis “B-B” (FIG. 12) and the gear element 506 rotates about alongitudinal axis parallel with the axis “C-C” (FIGS. 2 and 10). Thegear element 506 is connected to a gear element 510 by a shaft 508. Thegear element 506, the gear element 510, and the shaft 508 rotate withinthe joint member 232 about a longitudinal axis defined by the centralaxis of the shaft 508. The gear element 510 is, in turn, meshinglyengaged with a gear element 512 that rotates about the shaft 513 that islongitudinally arranged within the joint member 232. The gear element512 is meshingly engaged with a gear element 514 of the coupling member515. The coupling member 515 includes a shaft portion that extendsdistally to the socket 516, which is coupled to drive linkage 600 asdescribed above. Rotation of the drive shaft 220 a results in rotationof the gear elements 502, 504, 506, 510, 512, 514 and the socket 516,which in turn, rotates the drive screw 460 via the drive linkage 600thereby actuating the firing process as described above.

With continued reference to FIGS. 16-21, the assembly 230 also includesthe third (e.g., rotating) drive shaft 222 a, which may be axiallyrotatable within the body portion 210. The drive shaft 222 a includes athird gear element 552 coupled thereto and configured to rotatetherewith about a longitudinal axis defined by the drive shaft 222 a.The gear element 552 is meshingly engaged with a second transfer gearelement 554. The gear element 554 is held in position by the pin 505 andis configured to rotate about the pin 505.

The gear element 554 is also meshingly engaged with a gear element 556within the joint member 232. The gear elements 552, 554, 556 are bevelgears allowing for meshing engagement thereof even as the joint member232 and the end effector 300 are pivoted with respect to the bodyportion 210. The gear element 552 rotates about a longitudinal axisparallel with the axis “A-A.” The gear element 554 rotates about theaxis “B-B” and the gear element 556 rotates about a longitudinal axisparallel with the axis “C-C.” Use of the bevel gears, namely, the gearelements 502, 504, 506, 552, 554, 556, allows for tightest possible 90°bend angle of the joint member 232 during articulation with respect tothe body portion 210 of the adapter assembly 200 as shown in FIG. 23,which shows the joint member 232 pivoted with respect to the jointmember 234.

With continued reference to FIGS. 16-21, the gear element 556 isconnected to a gear element 560 by a shaft 558. The gear element 556,the gear element 560, and the shaft 558 rotate within the joint member232 about a longitudinal axis defined by the central axis of the shaft558. The gear element 560 is, in turn, meshingly engaged with a gearelement 562, which is fixedly coupled to the shaft 513, such thatrotation of the gear element 562 results in rotation of the shaft 513.As described above, the socket 580 is securedly coupled to the shaft513, such that as the shaft 513 is rotated in either clockwise orcounterclockwise direction about the longitudinal axis “C-C” the socket580 is also rotated in the same direction. Since the end effector 300 isengaged with the socket 580 as described above, the end effector 300 issimilarly rotated by the shaft 513. The end effector 300 is configuredto rotate about its own longitudinal axis in this manner.

The present disclosure also provides for a rotation lockout assembly 700for preventing rotation of the end effector 300 during firing. Thisallows for prevention of tissue damage due to the torque generatedduring the firing process which would otherwise backfeed the gearswithin the neck assembly 230 and inadvertently rotate the end effector.

With reference to FIGS. 13, 15, and 17A, the housing 410 may include adistal portion 427 a and a proximal portion 427 b interconnected by abolt 429 with the bore 423 a (FIG. 13) defined therethrough. The shaft513 disposed within the joint member 232 includes a bore 423 b (FIG.17A) defined therethrough. The bores 423 a and 423 b are in longitudinalalignment.

With reference to FIGS. 15-17A, the lockout assembly 700 includes a pushrod 702 disposed within the bore 423 a and a locking member 704 disposedwithin the joint member 232. The locking member 704 includes a rod 706disposed within the bore 423 b. The distal end of the rod 706 is incontact with a proximal end of the push rod 702, such that longitudinalmovement of either the push rod 702 or the locking member 704 istranslated therebetween. The locking member 704 also includes one ormore lock lugs 707 configured and dimensioned to meshingly engage thegear element 562. The locking mechanism 700 also includes a spring 708,which is coupled to the joint member 232 and pushes the locking member704 in a distal direction.

With reference to FIG. 16, prior to insertion of the end effector 300into the joint member 232, the locking member 704 is engaged with thelock lug 707 thereof preventing actuation of the coupling member 515. Asshown in FIGS. 15 and 18, after insertion of the end effector 300, thedrive beam 462 is in its proximal most position since it has not beenfired and therefore abuts the distal end of the push rod 702. This movesthe push rod 702 proximally, which also moves the locking member 704 ina proximal direction to disengage the lock lug 707 from the teeth of thegear element 562. The disengagement of the locking member 704 allows forrotation of the shaft 513, the socket 580, and in turn, the end effector300 in either clockwise or counterclockwise direction about thelongitudinal axis “C-C.”

Once the desired rotational position is achieved firing may be commencedas described above. Firing moves the drive beam 462 distally, whichallows the push rod 702 along with the locking member 704 to traveldistally due to the biasing forces of the spring 708 as shown in FIG.24. This moves the lock lug 707 of the locking member 704 intoengagement with the gear element 562 preventing rotation of the endeffector 300 during the firing process.

With reference to FIGS. 17A, 18 and 25-27, the assembly also includesthe first (e.g., pivoting) drive shaft 218 a, which may be axiallyrotatable within the body portion 210. The drive shaft 218 a includes afirst gear element 570 at its distal end, which is configured as a wormgear. The gear element 570 is meshingly engaged with a pivoting gearelement 572, which is configured as a worm wheel drive. The gear element572 includes a bore 574 a therethrough having a facet 574 b. The gearelement 572 is disposed between the gear elements 504, 554 and issecured to the pin 505 about the bore 574 a via mating of the facet 505a of the pin 505 with the facet 574 b of bore 574 a of gear element 572in a keyed relationship. Thus, the gear element 572 is secured to thepin 505 along with the joint member 232, which allows for rotation ofthe joint member 232 along with the end effector 300 with respect to thebody portion 210 about the articulation axis “B-B” defined by the pin505 as described in further detail below.

As shown in FIGS. 25-27, articulation of the joint member 232 about thearticulation axis “B-B” is imparted by rotation of the drive shaft 218 aabout its longitudinal axis and simultaneous longitudinal movement ofthe drive shaft 218 a along its longitudinal axis, which in turn,rotates the gear element 572 via the gear element 570. Simultaneousrotational and longitudinal movement of the drive shaft 218 a may beaccomplished via a complementary worm gear mechanism at its proximalend. Since the gear element 572 is securedly coupled to the pin 505,rotation of the gear element 572 rotates the pin 505 and the jointmember 232, which is also securedly coupled thereto as described above.The drive shaft 218 a includes a thrust plate 218 b that acts as a stopmember preventing longitudinal movement of the drive shaft 218 a beyonda certain point, which in turn, prevents rotation of the joint member232 and the end effector 300 beyond a desired stopping point. Inembodiments, the joint member 232 may be rotated about the articulationaxis “B-B” up to about 300°, with about 150° in either direction fromthe first aligned position in which the second longitudinal axis “C-C”is substantially aligned with the first longitudinal axis “A-A.” Infurther embodiments, the joint member 232 may be rotated about thearticulation axis “B-B” up to about 180°, with about 90° in eitherdirection from the first aligned position.

The gearing relationship between the gear elements 570 and 572 allowsfor precise pivoting of the end effector 300 with respect to the adapterassembly 200. In addition, the gear elements 570 and 572 provide for agearing reduction due to a worm gear/worm wheel drive relationship,thereby obviating the need for additional gear reduction mechanisms atthe proximal end of the adapter assembly 200.

Referring to FIGS. 28-30, another embodiment of an articulating assembly1230 provided in accordance with the present disclosure including alongitudinally translating drive shaft 1218 a. Articulating assembly1230 is substantially similar to articulating assembly 230 and includesmost of the components of articulating assembly 230, which are notdescribed below to avoid repetition. Drive shaft 1218 a is operativelydisposed within body portion 210. Drive shaft 1218 a includes a firstgear element 1570 that engages pivoting gear element 572. Inembodiments, gear element 1570 may be configured as a toothed rack thatengages pivoting gear element 572 in a rack and pinion relationship, asbest illustrated in FIG. 30.

With reference to FIGS. 31-33, articulation of joint member 232 aboutarticulation axis “B-B” (FIG. 28) is imparted by longitudinaltranslation of drive shaft 1218 a along its longitudinal axis, which isparallel to the longitudinal axis “A-A” (FIG. 10). Longitudinal movementof drive shaft 1218 a, in turn, rotates pivoting gear element 572 viafirst gear element 1570. The longitudinal translation of drive shaft1218 a may be accomplished via a drive mechanism described above withrespect to drive shaft 218 a. First gear element 1570 may extend alongdrive shaft 1218 a such that a portion of first gear element 1570 isadjacent a proximal end of drive shaft 1218 a. Since pivoting gearelement 572 is securely coupled to pin 505, rotation of pivoting gearelement 572 rotates pin 505 and joint member 232, which is also securelycoupled thereto as described above.

Drive shaft 1218 a also includes a thrust plate 1218 b that acts as astop member preventing longitudinal translation of drive shaft 1218 abeyond certain limits (e.g., a proximal limit 1219 a or a distal limit1219 b), which in turn, prevents rotation of joint member 232 and endeffector 300 beyond a desired point. In embodiments, joint member 232may be pivoted about the articulation axis “B-B” to a first and secondpivoted positions in either direction from a first aligned position inwhich the second longitudinal axis “C-C” (FIG. 28) is substantiallyaligned with the first longitudinal axis “A-A” (FIG. 10). The first andsecond pivoted positions may be up to about 300°, with about 150° ofpivot in either direction from the first aligned position. In furtherembodiments, joint member 232 may be pivoted about the articulation axis“B-B” up to about 180°, with about 90° of pivot in either direction fromthe first aligned position.

The gearing relationship between gear elements 1570 and 572 allows forprecise pivoting of end effector 300 with respect to adapter assembly200. In addition, the interaction of gear elements 1570 and 572 mayprovide for a back drive mechanism that permits external forces exertedon an end effector attached to articulating neck assembly 1230 about thepivot axis to back drive the motor until a solid stop is reached (i.e.,thrust plate 1218 b reaching proximal or distal limit 1219 a, 1219 b).The solid stop may correspond to the first or second rotated positionsof end effector 300. The back drive mechanism may also include a forcemultiplier configured to reduce the force exerted on the motor by theback drive mechanism. The force multiplier may be from about 1 to about40, in embodiments, from about 5 to about 20.

It will be understood that various modifications may be made to theembodiments disclosed herein. For example, surgical instrument 100and/or end effector 300 need not apply staples but rather may apply twopart fasteners as is known in the art. Further, the length of the linearrow of staples or fasteners may be modified to meet the requirements ofa particular surgical procedure. Thus, the length of the linear row ofstaples and/or fasteners within a staple cartridge assembly may bevaried accordingly. Therefore, the above description should not beconstrued as limiting, but merely as exemplifications of preferredembodiments. Those skilled in the art will envision other modificationswithin the scope and spirit of the claims appended thereto.

What is claimed:
 1. A surgical device, comprising: a jaw assemblyincluding a first jaw and a second jaw moveable relative to the firstjaw; an articulating assembly removably coupled to a proximal end of thejaw assembly, the articulating assembly including a distal joint member,a proximal joint member, and a pivot pin fixedly coupled to the distaljoint member and rotatably coupled to the proximal joint member, whereinthe jaw assembly and the distal joint member define a first longitudinalaxis extending between the proximal end of the jaw assembly and a distalend of the distal joint member, and the proximal joint member defines asecond longitudinal axis; and a drive shaft including a gear elementmeshingly engaged with a pivoting gear element fixedly coupled to thepivot pin, wherein longitudinal movement of the first drive shaft pivotsthe jaw assembly relative to the proximal joint member about a pivotaxis defined by the pivot pin, the pivot axis being perpendicular to thefirst and second longitudinal axes.
 2. The surgical device according toclaim 1, wherein the gear element is a toothed rack and the pivotinggear element is a pinion drive.
 3. The surgical device according toclaim 1 further comprising an elongated member coupled to the proximaljoint member and including the drive shaft.
 4. The surgical deviceaccording to claim 3 further comprising a handle assembly removablycoupled to a proximal end of the elongated member, the handle assemblyincluding at least one motor mechanically coupled to and configured tolongitudinally move the drive shaft.
 5. The surgical device according toclaim 4, wherein the drive shaft is configured to apply a force thatback drives the motor in response an external force applied to thearticulating assembly about the pivot axis.
 6. The surgical deviceaccording to claim 1, wherein the drive shaft includes a proximal stop,a distal stop, and a thrust plate positioned between the proximal anddistal stops.
 7. The surgical device according to claim 6, wherein theproximal stop is positioned along the first drive shaft at a firstposition corresponding to a first pivoted position of the distal jointmember and the distal stop is positioned along the first drive shaft ata second position corresponding to a second pivoted position of thedistal joint member.
 8. The surgical device according to claim 7,wherein in the first pivoted position, the second longitudinal axisdefines a first angle with the first longitudinal axis in a firstdirection.
 9. The surgical device according to claim 8, wherein in thesecond pivoted position, the second longitudinal axis defines a secondangle with the first longitudinal axis in a second direction, the seconddirection being opposite the first direction.
 10. The surgical deviceaccording to claim 9, wherein the first and second angles are about150°.
 11. The surgical device according to claim 8, wherein the firstand second angles are about 90°.
 12. A surgical device, comprising: ajaw assembly including a first jaw and a second jaw moveable relative tothe first jaw; an articulating neck assembly removably coupled to theproximal end of the jaw assembly, the articulating neck assemblyincluding a distal joint member, a proximal joint member, a pivot pinfixedly coupled to the distal joint member and rotatably coupled to theproximal joint member, and a first gear element fixedly coupled to thepivot pin, wherein the jaw assembly and the distal joint member define afirst longitudinal axis extending between a proximal end of the jawassembly and a distal end of the distal joint member, and the proximaljoint member defines a second longitudinal axis; a first drive shaftmeshingly engaged with the first gear element, wherein longitudinalmovement of the first drive shaft pivots the jaw assembly relative tothe proximal joint member about a pivot axis defined the pivot pin, thepivot axis being perpendicular to the first and second longitudinalaxes; a second drive shaft coupled to the jaw assembly, wherein rotationof the second drive shaft moves the second jaw relative to the firstjaw; and a third drive shaft coupled to the jaw assembly, whereinrotation of the third drive shaft rotates the jaw assembly about thefirst longitudinal axis.
 13. The surgical device according to claim 12,wherein the first gear element is a toothed rack and the pivoting gearelement is a pinion drive.
 14. The surgical device according to claim 12further comprising an elongated member coupled to the proximal jointmember and including the first drive shaft.
 15. The surgical deviceaccording to claim 14 further comprising a handle assembly removablycoupled to a proximal end of the elongated member, the handle assemblyincluding at least one motor mechanically coupled to and configured tolongitudinally move the first drive shaft.
 16. The surgical deviceaccording to claim 15, wherein the first drive shaft applies a forcethat back drives the motor when an external force is applied to thearticulating assembly about the pivot axis.
 17. The surgical deviceaccording to claim 16, wherein the first drive shaft includes a proximalstop, a distal stop, and a thrust plate positioned between the proximaland distal stops.
 18. The surgical device according to claim 17, whereinthe proximal stop is positioned along the first drive shaft at a firstposition corresponding to a first pivoted position of the distal jointmember and the distal stop is positioned along the first drive shaft ata second position corresponding to a second pivoted position of thedistal joint member.
 19. The surgical device according to claim 18,wherein in the first pivoted position, the second longitudinal axisdefines a first angle with the first longitudinal axis in a firstdirection and in the second pivoted position, the second longitudinalaxis defines a second angle with the first longitudinal axis in a seconddirection, the second direction being opposite the first direction.